Introducing model descriptions and instances

assets/demo_maps/office.building.yaml

@@ -181,7 +181,7 @@ levels:
       - [814.828, 239.25, 0, "", {is_parking_spot: [4, false]}]
       - [1210.544, 365.254, 0, ""]
       - [1191.442, 824.457, 0, ""]
-      - [1232.421, 658.567, 0, tinyRobot1_charger, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot1], spawn_robot_type: [1, TinyRobot]}]
+      - [1232.421, 658.567, 0, tinyRobot1_charger, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot1], spawn_robot_type: [1, Luca/TinyRobot]}]
       - [1991.121, 812.872, 0, ""]
       - [1990, 638.364, 0, pantry, {is_holding_point: [4, true], is_parking_spot: [4, false], pickup_dispenser: [1, coke_dispenser]}]
       - [2213.636, 812, 0, "", {is_parking_spot: [4, false]}]
@@ -206,7 +206,7 @@ levels:
       - [769.867, 618.148, 0, ""]
       - [2016.125, 1310.955, 0, ""]
       - [2468.096, 1217.693, 0, ""]
-      - [2412.581, 627.5, 0, tinyRobot2_charger, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot2], spawn_robot_type: [1, TinyRobot]}]
+      - [2412.581, 627.5, 0, tinyRobot2_charger, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot2], spawn_robot_type: [1, Luca/TinyRobot]}]
     walls:
       - [6, 7, {alpha: [3, 1], texture_name: [1, default]}]
       - [7, 12, {alpha: [3, 1], texture_name: [1, default]}]

rmf_site_editor/Cargo.toml

@@ -53,6 +53,7 @@ tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
 nalgebra = "0.32.5"
 anyhow = "*"
+strum = "*"
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }

rmf_site_editor/src/interaction/cursor.rs

@@ -23,7 +23,7 @@ use crate::{
 use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
 use bevy_mod_raycast::primitives::{rays::Ray3d, Primitive3d};
 
-use rmf_site_format::{FloorMarker, Model, WallMarker};
+use rmf_site_format::{FloorMarker, Model, ModelInstance, WallMarker};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -120,6 +120,27 @@ impl Cursor {
         }
     }
 
+    // TODO(luca) reduce duplication here
+    pub fn set_model_instance_preview(
+        &mut self,
+        commands: &mut Commands,
+        model_loader: &mut ModelLoader,
+        model_instance: Option<ModelInstance<Entity>>,
+    ) {
+        self.remove_preview(commands);
+        self.preview_model = if let Some(model_instance) = model_instance {
+            if let Some(mut spawn_instance) =
+                model_loader.spawn_model_instance(self.frame, model_instance.clone(), None)
+            {
+                Some(spawn_instance.insert(Pending).id())
+            } else {
+                None
+            }
+        } else {
+            None
+        };
+    }
+
     pub fn set_model_preview(
         &mut self,
         commands: &mut Commands,

rmf_site_editor/src/interaction/mod.rs

@@ -55,6 +55,9 @@ pub use lift::*;
 pub mod light;
 pub use light::*;
 
+pub mod model;
+pub use model::*;
+
 pub mod model_preview;
 pub use model_preview::*;
 
@@ -197,6 +200,7 @@ impl Plugin for InteractionPlugin {
                 .add_systems(
                     Update,
                     (
+                        update_model_instance_visual_cues.after(SelectionServiceStages::Select),
                         update_lane_visual_cues.after(SelectionServiceStages::Select),
                         update_edge_visual_cues.after(SelectionServiceStages::Select),
                         update_point_visual_cues.after(SelectionServiceStages::Select),

rmf_site_editor/src/interaction/model.rs

@@ -0,0 +1,98 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{interaction::*, site::*};
+use bevy::prelude::*;
+
+pub fn update_model_instance_visual_cues(
+    model_descriptions: Query<
+        (Entity, &Selected, &Hovered),
+        (
+            With<ModelMarker>,
+            With<Group>,
+            Or<(Changed<Hovered>, Changed<Selected>)>,
+        ),
+    >,
+    mut model_instances: Query<
+        (
+            Entity,
+            &mut Selected,
+            &mut Hovered,
+            &mut Affiliation<Entity>,
+            Option<Ref<Tasks<Entity>>>,
+        ),
+        (With<ModelMarker>, Without<Group>),
+    >,
+    mut locations: Query<&mut Selected, (With<LocationTags>, Without<ModelMarker>)>,
+    mut removed_components: RemovedComponents<Tasks<Entity>>,
+) {
+    for (instance_entity, mut instance_selected, mut instance_hovered, affiliation, tasks) in
+        &mut model_instances
+    {
+        let mut is_description_selected = false;
+        if let Some(description_entity) = affiliation.0 {
+            if let Ok((_, description_selected, description_hovered)) =
+                model_descriptions.get(description_entity)
+            {
+                if description_selected.cue() {
+                    instance_selected
+                        .support_selected
+                        .insert(description_entity);
+                    is_description_selected = true;
+                } else {
+                    instance_selected
+                        .support_selected
+                        .remove(&description_entity);
+                }
+                if description_hovered.cue() {
+                    instance_hovered.support_hovering.insert(description_entity);
+                } else {
+                    instance_hovered
+                        .support_hovering
+                        .remove(&description_entity);
+                }
+            }
+        }
+
+        // When an instance is selected, select all locations supporting it
+        if let Some(tasks) = tasks {
+            // When tasks for an instance have changed, reset all locations from supporting this instance
+            if tasks.is_changed() {
+                for mut location_selected in locations.iter_mut() {
+                    location_selected.support_selected.remove(&instance_entity);
+                }
+            }
+
+            if let Some(task_location) = tasks.0.first().and_then(|t| t.location()) {
+                if let Ok(mut location_selected) = locations.get_mut(task_location.0) {
+                    if instance_selected.cue() && !is_description_selected {
+                        location_selected.support_selected.insert(instance_entity);
+                    } else {
+                        location_selected.support_selected.remove(&instance_entity);
+                    }
+                }
+            }
+        }
+    }
+
+    // When instances are removed, prevent any location from supporting them
+    for removed in removed_components.read() {
+        for mut location_selected in locations.iter_mut() {
+            location_selected.support_selected.remove(&removed);
+        }
+    }
+}

rmf_site_editor/src/interaction/select/place_object.rs

@@ -15,7 +15,7 @@
  *
 */
 
-use crate::{interaction::select::*, site::Model};
+use crate::{interaction::select::*, site::ModelInstance};
 use bevy::ecs::system::SystemParam;
 
 #[derive(Default)]
@@ -62,7 +62,7 @@ pub struct ObjectPlacement<'w, 's> {
 }
 
 impl<'w, 's> ObjectPlacement<'w, 's> {
-    pub fn place_object_2d(&mut self, object: Model, level: Entity) {
+    pub fn place_object_2d(&mut self, object: ModelInstance<Entity>, level: Entity) {
         let state = self
             .commands
             .spawn(SelectorInput(PlaceObject2d { object, level }))

rmf_site_editor/src/interaction/select/place_object_2d.rs

@@ -17,7 +17,7 @@
 
 use crate::{
     interaction::select::*,
-    site::{Model, ModelLoader},
+    site::{ModelInstance, ModelLoader},
 };
 use bevy::prelude::Input as UserInput;
 
@@ -104,7 +104,7 @@ pub fn build_place_object_2d_workflow(
 }
 
 pub struct PlaceObject2d {
-    pub object: Model,
+    pub object: ModelInstance<Entity>,
     pub level: Entity,
 }
 
@@ -121,7 +121,7 @@ pub fn place_object_2d_setup(
     let mut access = access.get_mut(&key).or_broken_buffer()?;
     let state = access.newest_mut().or_broken_buffer()?;
 
-    cursor.set_model_preview(&mut commands, &mut model_loader, Some(state.object.clone()));
+    cursor.set_model_instance_preview(&mut commands, &mut model_loader, Some(state.object.clone()));
     set_visibility(cursor.dagger, &mut visibility, false);
     set_visibility(cursor.halo, &mut visibility, false);
 
@@ -205,9 +205,11 @@ pub fn on_placement_chosen_2d(
     let mut state = access.pull().or_broken_state()?;
 
     state.object.pose = placement.into();
-    model_loader
-        .spawn_model(state.level, state.object)
-        .insert(Category::Model);
+    if let Some(mut model_instance) =
+        model_loader.spawn_model_instance(state.level, state.object, None)
+    {
+        model_instance.insert(Category::Model);
+    }
 
     Ok(())
 }

rmf_site_editor/src/interaction/select/place_object_3d.rs

@@ -18,8 +18,8 @@
 use crate::{
     interaction::select::*,
     site::{
-        Anchor, AnchorBundle, Dependents, FrameMarker, Model, ModelLoader, NameInWorkcell, Pending,
-        SiteID,
+        Anchor, AnchorBundle, AssetSource, Dependents, FrameMarker, Group, Model, ModelInstance,
+        ModelLoader, ModelMarker, NameInWorkcell, Pending, SiteID,
     },
     widgets::canvas_tooltips::CanvasTooltips,
     workcell::flatten_loaded_model_hierarchy,
@@ -152,7 +152,7 @@ pub struct PlaceObject3d {
 
 #[derive(Clone, Debug)]
 pub enum PlaceableObject {
-    Model(Model),
+    ModelInstance(ModelInstance<Entity>),
     Anchor,
     VisualMesh(Model),
     CollisionMesh(Model),
@@ -179,9 +179,13 @@ pub fn place_object_3d_setup(
             set_visibility(cursor.dagger, &mut visibility, true);
             set_visibility(cursor.halo, &mut visibility, true);
         }
-        PlaceableObject::Model(m)
-        | PlaceableObject::VisualMesh(m)
-        | PlaceableObject::CollisionMesh(m) => {
+        PlaceableObject::ModelInstance(m) => {
+            // Spawn the model as a child of the cursor
+            cursor.set_model_instance_preview(&mut commands, &mut model_loader, Some(m.clone()));
+            set_visibility(cursor.dagger, &mut visibility, false);
+            set_visibility(cursor.halo, &mut visibility, false);
+        }
+        PlaceableObject::VisualMesh(m) | PlaceableObject::CollisionMesh(m) => {
             // Spawn the model as a child of the cursor
             cursor.set_model_preview(&mut commands, &mut model_loader, Some(m.clone()));
             set_visibility(cursor.dagger, &mut visibility, false);
@@ -438,6 +442,7 @@ pub fn on_placement_chosen_3d(
     parents: Query<&Parent>,
     frames: Query<(), With<FrameMarker>>,
     mut model_loader: ModelLoader,
+    model_descriptions: Query<&AssetSource, (With<ModelMarker>, With<Group>)>,
 ) -> SelectionNodeResult {
     let mut access = access.get_mut(&key).or_broken_buffer()?;
     let state = access.pull().or_broken_state()?;
@@ -472,12 +477,25 @@ pub fn on_placement_chosen_3d(
                 NameInWorkcell("Unnamed".to_string()),
             ))
             .id(),
-        PlaceableObject::Model(object) => {
+        PlaceableObject::ModelInstance(object) => {
             let model_id = commands.spawn(VisualCue::outline()).id();
-            let source = object.source.clone();
-            add_model_components(object, commands.entity(model_id));
+            let source = object
+                .description
+                .0
+                .map(|e| {
+                    model_descriptions
+                        .get(e)
+                        .ok()
+                        .map(|property| property.clone())
+                })
+                .flatten()
+                .unwrap();
+            commands
+                .entity(model_id)
+                .insert(NameInWorkcell(object.name.0))
+                .insert(object.pose);
             model_loader
-                .update_asset_source_impulse(model_id, source)
+                .update_asset_source_impulse(model_id, source.clone())
                 .then(flatten_models)
                 .detach();
             // Create a parent anchor to contain the new model in